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- objects/008_tray/model_data0.json +107 -0
- objects/008_tray/model_data1.json +107 -0
- objects/008_tray/model_data2.json +107 -0
- objects/008_tray/model_data3.json +107 -0
- objects/008_tray/points_info.json +15 -0
- objects/012_plant-pot/model_data0.json +107 -0
- objects/012_plant-pot/model_data1.json +107 -0
- objects/012_plant-pot/model_data2.json +107 -0
- objects/012_plant-pot/model_data3.json +107 -0
- objects/012_plant-pot/model_data4.json +107 -0
- objects/012_plant-pot/points_info.json +10 -0
- objects/026_pet-collar/model_data0.json +13 -0
- objects/026_pet-collar/model_data2.json +13 -0
- objects/026_pet-collar/model_data3.json +13 -0
- objects/026_pet-collar/points_info.json +4 -0
- objects/027_table-tennis/model_data0.json +13 -0
- objects/027_table-tennis/model_data1.json +13 -0
- objects/027_table-tennis/points_info.json +4 -0
- objects/028_roll-paper/model_data0.json +13 -0
- objects/028_roll-paper/model_data1.json +13 -0
- objects/028_roll-paper/model_data2.json +13 -0
- objects/028_roll-paper/model_data3.json +13 -0
- objects/028_roll-paper/points_info.json +4 -0
- objects/029_olive-oil/model_data0.json +13 -0
- objects/029_olive-oil/model_data1.json +13 -0
- objects/029_olive-oil/model_data2.json +13 -0
- objects/029_olive-oil/model_data3.json +13 -0
- objects/029_olive-oil/model_data4.json +13 -0
- objects/029_olive-oil/points_info.json +4 -0
- objects/032_screwdriver/collision/base0.glb +0 -0
- objects/032_screwdriver/model_data0.json +342 -0
- objects/032_screwdriver/points_info.json +16 -0
- objects/034_knife/model_data0.json +149 -0
- objects/034_knife/points_info.json +16 -0
- objects/035_apple/model_data0.json +168 -0
- objects/035_apple/model_data1.json +168 -0
- objects/035_apple/points_info.json +10 -0
- objects/040_rack/collision/base0.glb +0 -0
- objects/040_rack/model_data0.json +147 -0
- objects/040_rack/points_info.json +10 -0
- objects/040_rack/visual/base0.glb +0 -0
- objects/043_book/collision/base1.glb +0 -0
- objects/043_book/model_data0.json +107 -0
- objects/043_book/model_data1.json +106 -0
- objects/043_book/points_info.json +10 -0
- objects/049_shampoo/model_data1.json +114 -0
- objects/049_shampoo/model_data2.json +114 -0
- objects/049_shampoo/model_data3.json +114 -0
- objects/049_shampoo/model_data4.json +114 -0
- objects/049_shampoo/model_data5.json +114 -0
objects/008_tray/model_data0.json
ADDED
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objects/008_tray/model_data1.json
ADDED
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@@ -0,0 +1,107 @@
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objects/008_tray/model_data2.json
ADDED
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@@ -0,0 +1,107 @@
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| 106 |
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"stable": true
|
| 107 |
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|
objects/008_tray/model_data3.json
ADDED
|
@@ -0,0 +1,107 @@
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|
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|
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|
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|
| 103 |
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|
| 104 |
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|
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|
| 106 |
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"stable": true
|
| 107 |
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|
objects/008_tray/points_info.json
ADDED
|
@@ -0,0 +1,15 @@
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{
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"contact_points": [],
|
| 3 |
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"functional_points": [
|
| 4 |
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{
|
| 5 |
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"id": 0,
|
| 6 |
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"description": "At the center of the left side of the tray",
|
| 7 |
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"usage": "Used to indicate the position where the object on the left should be placed into the tray."
|
| 8 |
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},
|
| 9 |
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{
|
| 10 |
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"id": 1,
|
| 11 |
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"description": "At the center of the right side of the tray",
|
| 12 |
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"usage": "Used to indicate the position where the object on the right should be placed into the tray."
|
| 13 |
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}
|
| 14 |
+
]
|
| 15 |
+
}
|
objects/012_plant-pot/model_data0.json
ADDED
|
@@ -0,0 +1,107 @@
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| 18 |
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],
|
| 84 |
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[
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| 85 |
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| 86 |
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|
| 87 |
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|
| 88 |
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|
| 90 |
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[
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|
| 96 |
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|
| 97 |
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],
|
| 98 |
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"functional_matrix": [],
|
| 99 |
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"orientation_point": [],
|
| 100 |
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"contact_points_group": [],
|
| 101 |
+
"contact_points_mask": [],
|
| 102 |
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"target_point_discription": [],
|
| 103 |
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"contact_points_discription": [],
|
| 104 |
+
"functional_point_discription": [],
|
| 105 |
+
"orientation_point_discription": [],
|
| 106 |
+
"stable": true
|
| 107 |
+
}
|
objects/012_plant-pot/model_data1.json
ADDED
|
@@ -0,0 +1,107 @@
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objects/012_plant-pot/model_data2.json
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@@ -0,0 +1,107 @@
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|
objects/012_plant-pot/model_data3.json
ADDED
|
@@ -0,0 +1,107 @@
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|
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|
objects/012_plant-pot/model_data4.json
ADDED
|
@@ -0,0 +1,107 @@
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objects/012_plant-pot/points_info.json
ADDED
|
@@ -0,0 +1,10 @@
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{
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{
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"id": [0, 1],
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"description": "On two sides of the plant pot",
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"usage": "Used for grasping the plant pot."
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}
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],
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"functional_points": []
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objects/026_pet-collar/model_data0.json
ADDED
|
@@ -0,0 +1,13 @@
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{
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objects/026_pet-collar/model_data2.json
ADDED
|
@@ -0,0 +1,13 @@
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objects/026_pet-collar/model_data3.json
ADDED
|
@@ -0,0 +1,13 @@
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objects/026_pet-collar/points_info.json
ADDED
|
@@ -0,0 +1,4 @@
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objects/027_table-tennis/model_data0.json
ADDED
|
@@ -0,0 +1,13 @@
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objects/027_table-tennis/model_data1.json
ADDED
|
@@ -0,0 +1,13 @@
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objects/027_table-tennis/points_info.json
ADDED
|
@@ -0,0 +1,4 @@
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objects/028_roll-paper/model_data0.json
ADDED
|
@@ -0,0 +1,13 @@
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objects/028_roll-paper/model_data1.json
ADDED
|
@@ -0,0 +1,13 @@
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objects/028_roll-paper/model_data2.json
ADDED
|
@@ -0,0 +1,13 @@
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{
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objects/028_roll-paper/model_data3.json
ADDED
|
@@ -0,0 +1,13 @@
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{
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|
objects/028_roll-paper/points_info.json
ADDED
|
@@ -0,0 +1,4 @@
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|
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|
| 1 |
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{
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"contact_points": [],
|
| 3 |
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"functional_points": []
|
| 4 |
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}
|
objects/029_olive-oil/model_data0.json
ADDED
|
@@ -0,0 +1,13 @@
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{
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|
| 13 |
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|
objects/029_olive-oil/model_data1.json
ADDED
|
@@ -0,0 +1,13 @@
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|
| 13 |
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|
objects/029_olive-oil/model_data2.json
ADDED
|
@@ -0,0 +1,13 @@
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|
|
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objects/029_olive-oil/model_data3.json
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objects/029_olive-oil/model_data4.json
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@@ -0,0 +1,13 @@
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objects/029_olive-oil/points_info.json
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@@ -0,0 +1,4 @@
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objects/032_screwdriver/collision/base0.glb
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objects/032_screwdriver/model_data0.json
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0.0,
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| 223 |
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0.0,
|
| 224 |
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1.0
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]
|
| 227 |
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],
|
| 228 |
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[
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| 229 |
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[
|
| 230 |
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-0.0,
|
| 231 |
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1.0,
|
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|
| 235 |
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[
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0.0,
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[
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[
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0.0,
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0.0,
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1.0
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]
|
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[
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[
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[
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|
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[
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0.0,
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| 277 |
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1.0
|
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]
|
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]
|
| 280 |
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],
|
| 281 |
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"functional_matrix": [
|
| 282 |
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[
|
| 283 |
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[
|
| 284 |
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-0.0,
|
| 285 |
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-1.0,
|
| 286 |
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| 287 |
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],
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| 289 |
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[
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|
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],
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[
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0.0,
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| 304 |
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0.0,
|
| 305 |
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1.0
|
| 306 |
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]
|
| 307 |
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]
|
| 308 |
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],
|
| 309 |
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"orientation_point": [],
|
| 310 |
+
"contact_points_group": [
|
| 311 |
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[
|
| 312 |
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0
|
| 313 |
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],
|
| 314 |
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[
|
| 315 |
+
0,
|
| 316 |
+
1,
|
| 317 |
+
2,
|
| 318 |
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3,
|
| 319 |
+
4,
|
| 320 |
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5,
|
| 321 |
+
6,
|
| 322 |
+
7
|
| 323 |
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]
|
| 324 |
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],
|
| 325 |
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"contact_points_mask": [
|
| 326 |
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true,
|
| 327 |
+
true
|
| 328 |
+
],
|
| 329 |
+
"target_point_discription": [
|
| 330 |
+
"The center of the object."
|
| 331 |
+
],
|
| 332 |
+
"contact_points_discription": [
|
| 333 |
+
"Grasping handle of screwdriver."
|
| 334 |
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],
|
| 335 |
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"functional_point_discription": [
|
| 336 |
+
""
|
| 337 |
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],
|
| 338 |
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"orientation_point_discription": [
|
| 339 |
+
""
|
| 340 |
+
],
|
| 341 |
+
"stable": false
|
| 342 |
+
}
|
objects/032_screwdriver/points_info.json
ADDED
|
@@ -0,0 +1,16 @@
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|
|
| 1 |
+
{
|
| 2 |
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"contact_points": [
|
| 3 |
+
{
|
| 4 |
+
"id": [0, 1, 2, 3, 4, 5, 6, 7],
|
| 5 |
+
"description": "On the handle of the screwdriver",
|
| 6 |
+
"usage": "Used for grasping the screwdriver from any side."
|
| 7 |
+
}
|
| 8 |
+
],
|
| 9 |
+
"functional_points": [
|
| 10 |
+
{
|
| 11 |
+
"id": 0,
|
| 12 |
+
"description": "At the center of the screwdriver tip",
|
| 13 |
+
"usage": "Used to indicate where the screwdriver will make contact with screws."
|
| 14 |
+
}
|
| 15 |
+
]
|
| 16 |
+
}
|
objects/034_knife/model_data0.json
ADDED
|
@@ -0,0 +1,149 @@
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|
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|
| 1 |
+
{
|
| 2 |
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"center": [
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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|
| 8 |
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|
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|
| 11 |
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"scale": [
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| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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],
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| 17 |
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"transform_matrix": [
|
| 18 |
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[
|
| 19 |
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|
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],
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| 24 |
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[
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|
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|
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],
|
| 30 |
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| 31 |
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],
|
| 36 |
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|
| 37 |
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|
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|
| 39 |
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|
| 40 |
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1.0
|
| 41 |
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]
|
| 42 |
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],
|
| 43 |
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"target_pose": [
|
| 44 |
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[
|
| 45 |
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[
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
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],
|
| 51 |
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[
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
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|
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],
|
| 57 |
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[
|
| 58 |
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|
| 59 |
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0.0,
|
| 60 |
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1.0,
|
| 61 |
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|
| 62 |
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],
|
| 63 |
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[
|
| 64 |
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|
| 65 |
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0.0,
|
| 66 |
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0.0,
|
| 67 |
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1.0
|
| 68 |
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]
|
| 69 |
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]
|
| 70 |
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],
|
| 71 |
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"contact_points_pose": [
|
| 72 |
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[
|
| 73 |
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[
|
| 74 |
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-0.0,
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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],
|
| 79 |
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[
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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[
|
| 86 |
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|
| 87 |
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-1.0,
|
| 88 |
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0.0,
|
| 89 |
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-0.10000000149011612
|
| 90 |
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],
|
| 91 |
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[
|
| 92 |
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0.0,
|
| 93 |
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0.0,
|
| 94 |
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0.0,
|
| 95 |
+
1.0
|
| 96 |
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]
|
| 97 |
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]
|
| 98 |
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],
|
| 99 |
+
"functional_matrix": [
|
| 100 |
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[
|
| 101 |
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[
|
| 102 |
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1.0,
|
| 103 |
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0.0,
|
| 104 |
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0.0,
|
| 105 |
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0.0
|
| 106 |
+
],
|
| 107 |
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[
|
| 108 |
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0.0,
|
| 109 |
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0.9987499713897705,
|
| 110 |
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0.04997999966144562,
|
| 111 |
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|
| 112 |
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],
|
| 113 |
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[
|
| 114 |
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0.0,
|
| 115 |
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|
| 116 |
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0.9987499713897705,
|
| 117 |
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0.17000000178813934
|
| 118 |
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],
|
| 119 |
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[
|
| 120 |
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0.0,
|
| 121 |
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0.0,
|
| 122 |
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0.0,
|
| 123 |
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1.0
|
| 124 |
+
]
|
| 125 |
+
]
|
| 126 |
+
],
|
| 127 |
+
"orientation_point": [],
|
| 128 |
+
"contact_points_group": [
|
| 129 |
+
[
|
| 130 |
+
0
|
| 131 |
+
]
|
| 132 |
+
],
|
| 133 |
+
"contact_points_mask": [
|
| 134 |
+
true
|
| 135 |
+
],
|
| 136 |
+
"target_point_discription": [
|
| 137 |
+
"The center of the object."
|
| 138 |
+
],
|
| 139 |
+
"contact_points_discription": [
|
| 140 |
+
"Grasping the handle of knife."
|
| 141 |
+
],
|
| 142 |
+
"functional_point_discription": [
|
| 143 |
+
""
|
| 144 |
+
],
|
| 145 |
+
"orientation_point_discription": [
|
| 146 |
+
""
|
| 147 |
+
],
|
| 148 |
+
"stable": false
|
| 149 |
+
}
|
objects/034_knife/points_info.json
ADDED
|
@@ -0,0 +1,16 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"contact_points": [
|
| 3 |
+
{
|
| 4 |
+
"id": 0,
|
| 5 |
+
"description": "On the handle of the knife",
|
| 6 |
+
"usage": "Used for grasping the knife."
|
| 7 |
+
}
|
| 8 |
+
],
|
| 9 |
+
"functional_points": [
|
| 10 |
+
{
|
| 11 |
+
"id": 0,
|
| 12 |
+
"description": "At the blade of the knife",
|
| 13 |
+
"usage": "Used to indicate where the knife will make contact with other objects."
|
| 14 |
+
}
|
| 15 |
+
]
|
| 16 |
+
}
|
objects/035_apple/model_data0.json
ADDED
|
@@ -0,0 +1,168 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
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objects/035_apple/model_data1.json
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|
objects/035_apple/points_info.json
ADDED
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@@ -0,0 +1,10 @@
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| 6 |
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objects/040_rack/collision/base0.glb
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objects/040_rack/model_data0.json
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|
| 135 |
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| 136 |
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| 137 |
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| 138 |
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|
| 140 |
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|
| 142 |
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""
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"stable": true
|
| 147 |
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|
objects/040_rack/points_info.json
ADDED
|
@@ -0,0 +1,10 @@
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{
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"functional_points": [
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{
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"id": 0,
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| 6 |
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"description": "At the end of the rack's hanging bar",
|
| 7 |
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"usage": "Used to indicate the position where other objects need to be hung on the rack."
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| 8 |
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}
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]
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}
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objects/040_rack/visual/base0.glb
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Binary file (17.4 kB). View file
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objects/043_book/collision/base1.glb
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Binary file (46.5 kB). View file
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objects/043_book/model_data0.json
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|
@@ -0,0 +1,107 @@
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| 99 |
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|
| 100 |
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|
| 101 |
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|
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|
| 104 |
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|
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|
| 106 |
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"stable": true
|
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|
objects/043_book/model_data1.json
ADDED
|
@@ -0,0 +1,106 @@
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objects/043_book/points_info.json
ADDED
|
@@ -0,0 +1,10 @@
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|
objects/049_shampoo/model_data1.json
ADDED
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@@ -0,0 +1,114 @@
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|
objects/049_shampoo/model_data2.json
ADDED
|
@@ -0,0 +1,114 @@
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|
| 114 |
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|
objects/049_shampoo/model_data3.json
ADDED
|
@@ -0,0 +1,114 @@
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objects/049_shampoo/model_data4.json
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objects/049_shampoo/model_data5.json
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[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"functional_matrix": [],
|
| 99 |
+
"orientation_point": [],
|
| 100 |
+
"contact_points_group": [
|
| 101 |
+
[
|
| 102 |
+
0,
|
| 103 |
+
1
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"contact_points_mask": [
|
| 107 |
+
true
|
| 108 |
+
],
|
| 109 |
+
"target_point_discription": [],
|
| 110 |
+
"contact_points_discription": [],
|
| 111 |
+
"functional_point_discription": [],
|
| 112 |
+
"orientation_point_discription": [],
|
| 113 |
+
"stable": true
|
| 114 |
+
}
|